Using Cascaded Iterative Learning Control for Improved Task Execution
Author
Summary, in English
Iterative learning control (ILC) is used as a means for task execution of a time sub-optimal trajectory. The use of cascaded ILC procedures in a robot application is experimentally shown to drastically enlarge the region of convergence and efficiently compensate for unmodeled dynamics in the motion system.
Department/s
Publishing year
2002
Language
English
Publication/Series
Preprints Reglermöte 2002
Document type
Conference paper
Publisher
Reglerteknik och kommunikationssystem, Linköpings Universitet
Topic
- Control Engineering
Keywords
- Motion Control
- Robotics
- Iterative Learning Control (ILC)
Status
Published
Project
- LU Robotics Laboratory
- Sensor-based Integration and Task-level Programming, 1999-2002.
- Lund Research Programme in Autonomous Robotics, 1998-2001
- Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.